JP2020524576A - 電気焼灼手術器具の給電 - Google Patents
電気焼灼手術器具の給電 Download PDFInfo
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- 239000012636 effector Substances 0.000 claims abstract description 117
- 230000007246 mechanism Effects 0.000 claims abstract description 26
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- 238000010586 diagram Methods 0.000 abstract description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
Description
シャフトと、
電気焼灼エレメントにより給電される電気焼灼エンドエフェクタと、
前記電気焼灼エンドエフェクタを前記シャフトに連結する関節部と、
を備え、前記関節部が、
第1の駆動エレメントの対により駆動可能な第1ジョイントであって、前記電気焼灼エンドエフェクタが前記シャフトの長手方向軸心を横切る第1軸心回りに回転することを可能にする、第1ジョイント、および
第2の駆動エレメントの対により駆動可能な第2ジョイントであって、前記電気焼灼エンドエフェクタが前記第1軸心を横切る第2軸心回りに回転することを可能にする、第2ジョイント、
を含み、前記電気焼灼エレメントが、前記第1軸心の周りを動くように拘束されていると共に、前記第2軸心回りに1回転以上巻かれるように拘束されており、前記電気焼灼エレメントの、前記シャフトと前記第2ジョイントとの間の経路と、前記第2の駆動エレメントの対の第1の駆動エレメントの、前記シャフトと前記第2ジョイントとの間の経路とが、互いに逆となる対称な経路となっている、ロボット手術器具が提供される。
Claims (16)
- シャフトと、
電気焼灼エレメントにより給電される電気焼灼エンドエフェクタと、
前記電気焼灼エンドエフェクタを前記シャフトに連結する関節部と、
を備え、前記関節部が、
第1の駆動エレメントの対により駆動可能な第1ジョイントであって、前記電気焼灼エンドエフェクタが前記シャフトの長手方向軸心を横切る第1軸心回りに回動することを可能にする、第1ジョイント、および
第2の駆動エレメントの対により駆動可能な第2ジョイントであって、前記電気焼灼エンドエフェクタが前記第1軸心を横切る第2軸心回りに回動することを可能にする、第2ジョイント、
を備え、
前記電気焼灼エレメントが、前記第1軸心の周りを動くように拘束されていると共に、前記第2軸心回りに1回転以上巻かれるように拘束されており、前記電気焼灼エレメントの、前記シャフトと前記第2ジョイントとの間の経路と、前記第2の駆動エレメントの対の第1の駆動エレメントの、前記シャフトと前記第2ジョイントとの間の経路とが、互いに逆となる対称な経路となっている、ロボット手術器具。 - 請求項1に記載のロボット手術器具において、前記電気焼灼エレメントが、前記第2軸心回りに1.5回転以上巻かれるように拘束されている、ロボット手術器具。
- 請求項1または2に記載のロボット手術器具において、前記電気焼灼エレメントが、前記第2軸心周りの溝に収容されている、ロボット手術器具。
- 請求項1に記載のロボット手術器具において、前記関節部が、周りを前記第2の駆動エレメントの対及び前記電気焼灼エレメントが動くように拘束されたプーリ機構を備え、前記電気焼灼エレメントと前記第2の駆動エレメントの対の前記第1の駆動エレメントとは、前記プーリ機構周りの経路が、互いに逆となる対称な経路となっている、ロボット手術器具。
- 請求項4に記載のロボット手術器具において、前記プーリ機構が、前記第1軸心回りに回転可能な第1のセットのプーリを有する、ロボット手術器具。
- 請求項4または5に記載のロボット手術器具において、前記プーリ機構が、前記第1軸心と前記シャフトとの間に配置された第2のセットのプーリを有する、ロボット手術器具。
- 請求項4、5または6に記載のロボット手術器具において、前記プーリ機構が、前記第1軸心と前記第2軸心との間に配置された第3のセットのプーリを有する、ロボット手術器具。
- 請求項1から7のいずれか一項に記載のロボット手術器具において、前記電気焼灼エレメントが、前記シャフト内で前記第2の駆動エレメントの対の第2の駆動エレメントに接合されている、ロボット手術器具。
- 請求項8に記載のロボット手術器具において、前記第2の駆動エレメントの対の前記第2の駆動エレメントが、可撓部とスポークとを有しており、前記スポークに前記電気焼灼エレメントが接合されている、ロボット手術器具。
- 請求項1から9のいずれか一項に記載のロボット手術器具において、前記電気焼灼エレメントが、前記電気焼灼エンドエフェクタに接続されている、ロボット手術器具。
- 請求項10に記載のロボット手術器具において、前記電気焼灼エレメントが、前記電気焼灼エンドエフェクタで終端している、ロボット手術器具。
- 請求項11に記載のロボット手術器具において、前記電気焼灼エレメントは、当該電気焼灼エレメントが前記電気焼灼エンドエフェクタで終端している箇所において絶縁材料によってオーバーモールド成形されている、ロボット手術器具。
- 請求項1から12のいずれか一項に記載のロボット手術器具において、前記電気焼灼エレメントがケーブルである、ロボット手術器具。
- 請求項1から13のいずれか一項に記載のロボット手術器具において、前記第1の駆動エレメントの対が、前記関節部内のケーブルである、ロボット手術器具。
- 請求項1から14のいずれか一項に記載のロボット手術器具において、前記第2の駆動エレメントの対が、前記関節部内のケーブルである、ロボット手術器具。
- 請求項1から15のいずれか一項に記載のロボット手術器具において、前記電気焼灼エレメントおよび前記対の駆動エレメントが、圧縮力及び引張力に抵抗する、ロボット手術器具。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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GB1709902.9A GB2563631B (en) | 2017-06-21 | 2017-06-21 | Powering an electrocautery surgical instrument |
GB1709902.9 | 2017-06-21 | ||
PCT/GB2018/051716 WO2018234795A1 (en) | 2017-06-21 | 2018-06-20 | FEEDING A SURGICAL INSTRUMENT FOR ELECTROCAUTIZATION |
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JP2020524576A true JP2020524576A (ja) | 2020-08-20 |
JP2020524576A5 JP2020524576A5 (ja) | 2021-05-13 |
JP7275056B2 JP7275056B2 (ja) | 2023-05-17 |
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JP2019571026A Active JP7275056B2 (ja) | 2017-06-21 | 2018-06-20 | 電気焼灼手術器具の給電 |
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US (1) | US20200138510A1 (ja) |
EP (1) | EP3641683A1 (ja) |
JP (1) | JP7275056B2 (ja) |
CN (2) | CN116898588A (ja) |
AU (1) | AU2018288005B2 (ja) |
BR (1) | BR112019027017A2 (ja) |
GB (1) | GB2563631B (ja) |
WO (1) | WO2018234795A1 (ja) |
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US11992287B2 (en) | 2018-04-10 | 2024-05-28 | Intuitive Surgical Operations, Inc. | Articulable medical devices having flexible wire routing |
GB2579380B (en) * | 2018-11-29 | 2022-07-06 | Cmr Surgical Ltd | Internal structure of a robotic surgical instrument |
US11628028B2 (en) | 2018-12-31 | 2023-04-18 | Asensus Surgical Us, Inc. | Articulating surgical instrument |
CN112690836B (zh) * | 2020-12-24 | 2022-12-02 | 上海微创医疗机器人(集团)股份有限公司 | 器械末端、器械末端组件及手术器械 |
WO2023163572A1 (ko) * | 2022-02-28 | 2023-08-31 | 주식회사 리브스메드 | 수술용 인스트루먼트 및 이를 포함하는 수술 로봇 |
CN116509551A (zh) * | 2022-07-26 | 2023-08-01 | 深圳康诺思腾科技有限公司 | 手术器械的末端执行机构及手术器械 |
GB2623832A (en) * | 2022-10-31 | 2024-05-01 | Cmr Surgical Ltd | Arrangement of an electrosurgical instrument |
GB2623831A (en) * | 2022-10-31 | 2024-05-01 | Cmr Surgical Ltd | Arrangement of an electrosurgical instrument |
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- 2018-06-20 AU AU2018288005A patent/AU2018288005B2/en active Active
- 2018-06-20 WO PCT/GB2018/051716 patent/WO2018234795A1/en unknown
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BR112019027017A2 (pt) | 2020-06-30 |
CN116898588A (zh) | 2023-10-20 |
AU2018288005A1 (en) | 2020-01-16 |
GB2563631A (en) | 2018-12-26 |
CN110799141A (zh) | 2020-02-14 |
AU2018288005B2 (en) | 2022-12-15 |
CN110799141B (zh) | 2023-08-15 |
EP3641683A1 (en) | 2020-04-29 |
WO2018234795A1 (en) | 2018-12-27 |
GB201709902D0 (en) | 2017-08-02 |
US20200138510A1 (en) | 2020-05-07 |
GB2563631B (en) | 2021-11-24 |
JP7275056B2 (ja) | 2023-05-17 |
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